Magnetic vector sensor positioning and communications system

ABSTRACT

A system is described herein for monitoring the movement of one or more magnets located external to a device using the vector data from one or more magnetic vector sensors incorporated in the device to determine a position and/or to communicate information.

CLAIM OF PRIORITY

This application claims the benefit U.S. Provisional Application Ser.No. 61/746,456 filed on Dec. 27, 2012. The contents of this document areincorporated by reference herein.

FIELD OF THE INVENTION

The present invention relates generally to a magnetic vector sensorpositioning and communications system. More particularly, the presentinvention relates to a system for monitoring the movement of one or moremagnets located external to a device using the vector data from one ormore magnetic vector sensors incorporated in the device to determine aposition and/or to communicate information.

BACKGROUND OF THE INVENTION

Touchscreens

A touchscreen is an electronic visual display that can detect thepresence and location of a touch within the display area. The termgenerally refers to touching the display of the device with a finger orhand. Touchscreens can also sense other passive objects, such as astylus. Touchscreens are common in devices such as game consoles,all-in-one computers, tablet computers, and smartphones.

The touchscreen has two main attributes. First, the touchscreen enablesone to interact directly with what is displayed, rather than indirectlywith a pointer controlled by a mouse or touchpad. Secondly, thetouchscreen lets one do so without requiring any intermediate devicethat would need to be held in the hand (other than a stylus, which isoptional for most modern touchscreens). Such displays can be attached tocomputers, or to networks as terminals. They also play a prominent rolein the design of digital appliances such as the personal digitalassistant (PDA), satellite navigation devices, mobile phones, and videogames.

Source: http://en.wikipedia.org/wiki/Touchscreen

Capacitive Touchscreens

A capacitive touchscreen panel consists of an insulator such as glass,coated with a transparent conductor such as indium tin oxide (ITO). Asthe human body is also an electrical conductor, touching the surface ofthe screen results in a distortion of the screen's electrostatic field,measurable as a change in capacitance. Different technologies may beused to determine the location of the touch (e.g., see capacitivesensing touchscreen technology discussed below). The location is thensent to the controller for processing. However, one cannot use acapacitive touchscreen through most types of electrically insulatingmaterial, such as gloves, instead one requires a special capacitivestylus, or a special-application glove with an embroidered patch ofconductive thread passing through it and contacting the user'sfingertip. This disadvantage especially affects usability in consumerelectronics, such as touch tablet PCs and capacitive smartphones in coldweather.

Source: http://en.wikipedia.org/wiki/Touchscreen

Resistive Touchscreens

Resistive touchscreens are touch-sensitive computer displays composed oftwo flexible sheets coated with a resistive material and separated by anair gap or microdots. There are two different types of metallic layers.The first type is called Matrix, in which striped electrodes onsubstrates such as glass or plastic face each other. The second type iscalled Analogue which consists of transparent electrodes without anypatterning facing each other. As of 2011, Analogue offered loweredproduction costs when compared to Matrix. In Analogue, when contact ismade to the surface of the touchscreen, the two sheets are pressedtogether. On these two sheets there are horizontal and vertical linesthat, when pushed together, register the precise location of the touch.Because the touchscreen senses input from contact with nearly any object(finger, stylus/pen, palm) resistive touchscreens are a type of“passive” technology.

For example, during operation of a four-wire touchscreen, a uniform,unidirectional voltage gradient is applied to the first sheet. When thetwo sheets are pressed together, the second sheet measures the voltageas distance along the first sheet, providing the X coordinate. When thiscontact coordinate has been acquired, the uniform voltage gradient isapplied to the second sheet to ascertain the Y coordinate. Theseoperations occur within a few milliseconds, registering the exact touchlocation as contact is made.

Resistive touchscreens typically have high resolution (4096×4096 DPI orhigher), providing accurate touch control. Because the touchscreenresponds to pressure on its surface, contact can be made with a fingeror any other pointing device.

Resistive touchscreen technology works well with almost any stylus-likeobject, and can also be operated with gloved fingers and bare fingersalike. In some circumstances, this is more desirable than a capacitivetouchscreen, which has to be operated with a capacitive pointer, such asa bare finger (latest capacitive technology enables gloves ontouchscreens). The resistive touchscreen costs are relatively low whencompared with active touchscreen technologies. Resistive touchscreentechnology can be made to support multi-touch input.

For people who must grip the active portion of the screen or must settheir entire hand down on the screen, alternative touchscreentechnologies are available, such as an active touchscreen in which onlythe stylus creates input and skin touches are rejected. However, newertouchscreen technologies allow the use of multi-touch without theaforementioned vectoring issues.

Source: http://en.wikipedia.org/wiki/Resistive_touchscreen

Capacitive Sensing Touchscreen Technology

Source: http://en.wikipedia.org/wiki/Resistive_touchscreen

Capacitive sensing is a technology based on capacitive coupling that isused in many different types of sensors, including those to detect andmeasure proximity, position or displacement, humidity, fluid level, andacceleration. Capacitive sensing as a human interface device (HID)technology, for example to replace the computer mouse, is growingincreasingly popular. Capacitive touch sensors are used in many devicessuch as laptop trackpads, digital audio players, computer displays,mobile phones, mobile devices, tablets and others. More and more designengineers are selecting capacitive sensors for their versatility,reliability and robustness, unique human-device interface and costreduction over mechanical switches.

Capacitive sensors detect anything that is conductive or has adielectric different than that of air. While capacitive sensingapplications can replace mechanical buttons with capacitivealternatives, other technologies such as multi-touch and gesture-basedtouchscreens are also premised on capacitive sensing.

Capacitive sensing touchscreens do not respond to a traditional stylusand instead require a capacitive stylus, which is unable to provide highresolution positional input. A typical capacitive stylus has aconductive tip shaped similar to a fingertip, which is made out ofcapacitive foam. Another capacitive stylus resembles a ball point penbut has a flat round plastic disk attached to the point of the pen.Still another capacitive stylus has a stainless steel ring that has avinyl film on the surface that makes contact with a touchscreen. Yetanother type of capacitive stylus includes a magnet in the head of thestylus enabling a capacitive sensing touchscreen to detect that it hasbeen touched by the stylus. This stylus is described in U.S. PatentApplication No. 2009/0167727, filed Dec. 16, 2008, and entitled “Stylusand Electronic Device”, the contents of which are incorporated herein byreference. FIGS. 1A, 1B, 2A, and 2B (PRIOR ART) are provided from thispatent application. FIGS. 1A and 1B depict an electronic device 100having a device body 110 and a stylus 120. The device body 110 has acapacitive touch panel 112. The stylus 120 has a handle 122 and a head124. The head 124 is magnetic. The head 124 may be made of a magneticmaterial or may be provided with a magnet 126 at a tip of the head 124.When a relative speed exists between the head 124 of the stylus 120 andany region of the touch panel 112, an inducing current is generated onthe region of the panel 112 due to magnetic force lines M10 of the head124. FIGS. 2A and 2B (PRIOR ART) depict two distribution modes ofmagnetic poles of a stylus 120 a and 120 b. Referring to FIG. 2A, aconnection line D10 between magnetic poles N and S of a head 124 a of astylus 120 a is substantially perpendicular to a lengthwise directionD20 of a handle 122 a. Alternatively, referring to FIG. 2B, a connectingline D 30 between magnetic poles N and S of a head 124 b of a stylus 120b is substantially parallel to a lengthwise direction D40 of a handle122 b.

Many devices having capacitive touchscreen interfaces also include atleast one vector magnetics sensor (or vector magnetometer) used todetermine the orientation of the device or a portion of the device(e.g., a hinged display that can move from an open position to a closedposition). More specifically, the at least one magnetics sensor is usedto sense (or measure) the magnetic field produced by the Earth andprovides one-dimensional, two dimensional, or three-dimensionalorientation information in the form of X, Y, and/or Z vector data thatcan be processed by software typically resident on the device (but whichcan be remote) to determine how the device is being moved about by theuser. Such vector magnetics sensor data (or information) enablesapplications such as games where the device (e.g., a cell phone) itselfcan be used as a game controller. Magnetic sensor information can alsobe used to determine the state of a device's display (e.g., open,closed, nearly closed, etc.), such as is the case with Apple® laptopcomputers, where the position of the display relative to the keyboard isused to change the state of the machine (e.g., on, sleep, off).Similarly, the cover of the Apple iPad® includes a magnet that isdetectable by a magnetic field sensor, which is used for determiningwhether or not the cover is covering the display. FIG. 3A (PRIOR ART)depicts an exemplary hall sensor array 302 used in a smartphone. FIG. 3B(PRIOR ART) depicts an exemplary cell phone 303 having an exemplary Xaxis 304, Y axis 306, and Z axis 308. FIG. 3C (PRIOR ART) depicts anexemplary output display showing vector data 310, 312, 314 correspondingto the X, Y, and Z vectors (i.e., magnitude and direction of the X, Y,and Z magnetic field components) as an electronic device such as thecell phone 303 is moved about over a period of time.

Magnets external to a device have been used to interact with anelectronic device having a magnetometer. U.S. Patent Application No.2011/0190060, filed Jan. 31, 2011, and entitled “Around DeviceInteraction for Controlling and Electronic Device, for Controlling aComputer Game and for User Verification”, the contents of which areincorporated herein by reference, describes use of a magnetometer withinan electronic device to measure changes in magnetic strengths resultingfrom the relative motion of an external magnet in order to identify (orrecognize) gesture induced movements. The tracking of the relativemovement of a magnet is described as being coarse and magnetic fieldamplitude based, where polarity is only used to identify one magnet vs.another. The relative motion is only discerned and is not absoluteposition-based. Generally, gestures can be recognized regardless ofwhere a given motion actually occurs or originates relative to thedevice. However, because the gestures are position indeterminate theability to provide high resolution precision input as required forabsolute position-based functions such as precision drawing or letteringis not enabled. Instead the coarse movement of the magnet only enablesrecognition of gestures such as moving a hand downward, swiping left orright, rotating, zooming, etc. Examples of the magnet gesturing systemsare provided in FIGS. 4A and 4B (PRIOR ART). FIG. 4A depicts acontrolling apparatus 401 comprising a mobile phone 402 and a magneticring 403. The mobile phone 402 is held by the left hand 442 and themagnetic ring 403 is on the index finger of the right hand 441. Themobile phone 402 has a touchscreen 421 and a standard magnetic sensor(not shown) that is located inside the mobile phone 402. The mobilephone 402 executes a computer program 422 that implements thecontrolling means on the phone 402. FIG. 4B depicts a controllingapparatus 410 comprising a stick 430 as the magnetic element.

U.S. Patent Application No. 2012/0084051, filed May 21, 2010, andentitled “Method and Arrangement for Magnetically Determining aPosition”, the contents of which are herein incorporated herein byreference, describes magnetically determining a position of a permanentmagnet located above a magnetic sensor array, where the vector and localgradient of the magnetic flux density of the a spherical homogenouslymagnetized magnet is measured using a position sensor. The position andorientation of the magnetic dipole of the permanent magnet relative tothe position sensor is calculated from the measured values. A sphericalpermanent magnet having homogenous magnetization is used to preventpreviously present cross-sensitivity between the position andorientation determination, and allowing measurement without priorcalibration. FIG. 5 (PRIOR ART) depicts the magnetic field B of amagnetic sphere 501 being tracked by a position sensor 502 comprising anarray of Hall Effect sensors 503.

Examples of use of a magnetometer for communicating with an electronicdevice and determining a position can also be found in a story availableon an online blog athttp://blog.makezine.com/2012/10/29/magnetic-appcessories-with-andrea-bianchi/,which is incorporated by reference herein in its entirety.

A web log by Joe DesBonnet found athttp://jdesbonnet.blogspot.com/2011_05_01_archive.html (the contents ofwhich are incorporated by reference herein) describes a cheap and simpleone-way communications link from an Arduino microcontroller to anAndroid cellphone, where he uses a digital IO line of the Arduino todrive a coil of wire placed over the magnetometer of the Android. Heemploys a Non Return to Zero encoding scheme, where he monitors theoutput of one axis (Z) of the magnetometer using the Android ‘Tricorder’application. He successfully communicated “Hello World!” atapproximately 7 bps and suggested potential improvements to increase hisdata rate including using a DAC, using four power levels to encode 2bits per symbol and using forward error correction. He also mentionsthat it might be possible to construct a set of coils that excite the X,Y, and Z channels independently to triple his data rate. He furthermentions some applications might only require an analog signal. FIG. 6(PRIOR ART) depicts the communications link 600 from the Arduino 602 tothe Android 604 via the use of a coil 606 placed over the magnetometer(not shown) of the Android 604.

SUMMARY

A system, a first device and various methods are described in theindependent claims of the present application. Advantageous embodimentsof the system, the first device, and the various methods have beendescribed in the dependent claims of the present application.

In one aspect, the present invention provides a system comprising: (1) afirst device comprising a screen and at least one vector magneticsensor; (2) a second device comprising a magnet; (3) the first deviceutilizes the at least one vector magnetic sensor which interfaces withthe magnet in the second device to obtain vector data which correspondsto an absolute orientation and location of the second device within acoordinate system based on an absolute orientation and location of thefirst device; and (4) the first device utilizes the vector data to mapthe location of the second device to a location on the screen.

In another aspect, the present invention provides a first device (and amethod implemented by the same) which interfaces with a second devicethat has a magnet. The first device comprises: (1) a screen; (2) atleast one vector magnetic sensor; (3) a processor; and (4) a memory thatstores processor-executable instructions where the processor interfaceswith the memory and executes the processor-executable instructions toenable the following operations: (a) interface with second device whichcomprises a magnet; (b) obtain vector data which corresponds to anabsolute orientation and location of the second device within acoordinate system based on an absolute orientation and location of thefirst device; and (c) utilize the vector data to map the location of thesecond device to a location on the screen.

In yet another aspect, the present invention provides a first device(and a method implemented by the same) which interfaces with a seconddevice which has a plurality of magnets. The first device comprises: (1)at least one vector magnetic sensor; (2) a processor; and (3) a memorythat stores processor-executable instructions where the processorinterfaces with the memory and executes the processor-executableinstructions to enable the following operations: (a) determine aposition within an environment by interacting with the second devicewhich comprises a plurality of magnets with magnetic fields which aremodulated to function as an identifier or provide coordinates of areference location within an established coordinate system.

In still another aspect, the present invention provides a first device(and a method implemented by the same) which interfaces with a seconddevice associated with a security door and a server. The first devicecomprises: (1) a screen; (2) at least one vector magnetic sensor; (3) aprocessor; and (4) a memory that stores processor-executableinstructions where the processor interfaces with the memory and executesthe processor-executable instructions to enable the followingoperations: (a) interact with the second device which comprises aplurality of magnets with magnetic fields which are modulated tofunction as an identifier of the security door; (b) send, to the server,the identifier of the security door along with an identifier of thefirst device, wherein the server sends a validation code to the securitydoor which the security device uses to produce a validation emission;(c) receive, from the security door, the validation emission; and (d)send, to the server, the validation emission.

Additional aspects of the invention will be set forth, in part, in thedetailed description, figures and any claims which follow, and in partwill be derived from the detailed description, or can be learned bypractice of the invention. It is to be understood that both theforegoing general description and the following detailed description areexemplary and explanatory only and are not restrictive of the inventionas disclosed.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the present invention may be obtainedby reference to the following detailed description when taken inconjunction with the accompanying drawings wherein:

FIG. 1A (PRIOR ART) depicts an electronic device having a device bodyand a stylus as illustrated in U.S. Patent Application No. 2009/0167727;

FIG. 1B (PRIOR ART) depicts an electronic device having a device bodyand a stylus as illustrated in U.S. Patent Application No. 2009/0167727;

FIG. 2A (PRIOR ART) depicts a magnetic stylus as illustrated in U.S.Patent Application No. 2009/0167727;

FIG. 2B (PRIOR ART) depicts another magnetic stylus as illustrated inU.S. Patent Application No. 2009/0167727;

FIG. 3A (PRIOR ART) depicts an exemplary hall sensor array used in asmartphone;

FIG. 3B (PRIOR ART) depicts an exemplary cell phone having an exemplaryX axis, Y axis, and Z axis;

FIG. 3C (PRIOR ART) depicts an exemplary output display showing vectordata corresponding to the X, Y, and Z vectors (i.e., magnitude anddirection of the X, Y, and Z magnetic field components) as an electronicdevice such as the cell phone shown in FIG. 3B is moved about over aperiod of time;

FIG. 4A (PRIOR ART) depicts an example of a magnet gesturing system;

FIG. 4B (PRIOR ART) depicts another example of a magnet gesturingsystem;

FIG. 5 (PRIOR ART) depicts the magnetic field B of a magnetic spherebeing tracked by a position sensor comprising an array of Hall Effectsensors;

FIG. 6 (PRIOR ART) depicts the communications link from an Arduino to anAndroid via the use of a coil placed over the magnetometer of theAndroid;

FIG. 7A depicts a system comprising a first device (e.g., a mobilephone) which has a touchscreen (e.g., a capacitive touchscreen) and asecond device, e.g., a stylus, which has a magnet such as the stylusshown in FIG. 2A in accordance with an embodiment of the presentinvention;

FIG. 7B depicts a system comprising a first device (e.g., a mobilephone) which has a touchscreen (e.g., a capacitive touchscreen) and asecond device, e.g., a stylus, which has a magnet such as the stylusshown in FIG. 2B in accordance with an embodiment of the presentinvention;

FIG. 8A depicts a system comprising a first device (e.g., a mobilephone) which has a touchscreen (e.g., a capacitive touchscreen) and asecond device, e.g., a mouse, which has a magnet having a firstorientation where the magnetic moment of the magnet is parallel to asurface on which the mouse resides in accordance with an embodiment ofthe present invention;

FIG. 8B depicts a system comprising a first device (e.g., a mobilephone) which has a touchscreen (e.g., a capacitive touchscreen) and asecond device, e.g., a mouse, which has a magnet having a firstorientation where the magnetic moment of the magnet is perpendicular toa surface on which the mouse resides in accordance with an embodiment ofthe present invention;

FIG. 9A depicts a system comprising a first device (e.g., a mobilephone) which has a touchscreen (e.g., a capacitive touchscreen) and asecond device, e.g., a joy stick input device, which has a base and acontrol handle with a magnet therein and a base where the magnet has afirst orientation that is perpendicular to an axis of an ‘at rest’position of the control handle in accordance with an embodiment of thepresent invention;

FIG. 9B depicts a system comprising a first device (e.g., a mobilephone) which has a touchscreen (e.g., a capacitive touchscreen) and asecond device, e.g., a joy stick input device, which has a base and acontrol handle with a magnet therein and a base where the magnet has asecond orientation that is parallel to an axis of an ‘at rest’ positionof the control handle in accordance with an embodiment of the presentinvention;

FIG. 9C depicts an exemplary system comprising three first devices whichprovide multiple detection angles relative to a magnet (which has onepolarity orientation) within a second device, e.g., a joy stick inputdevice, in accordance with an embodiment of the present invention;

FIG. 9D depicts an exemplary system comprising three first devices whichprovide multiple detection angles relative to a magnet (which hasanother polarity orientation) within a second device, e.g., a joy stickinput device, in accordance with an embodiment of the present invention;

FIG. 10A depicts a second device in the form of a mouse having twomagnets where each of the two magnets has a first orientation relativeto a surface in accordance with an embodiment of the present invention;

FIG. 10B depicts a second device in the form of a mouse having twomagnets where each of the two magnets has a second orientation relativeto a surface in accordance with an embodiment of the present invention;

FIG. 10C depicts a second device in the form of a mouse having twomagnets where one of the magnets has a first orientation relative to asurface and the other one of the magnets has a second orientationrelative to a surface in accordance with an embodiment of the presentinvention;

FIG. 10D depicts a second device in the form of a joy stick input devicecomprising a base (with one magnet) and control handle (with one magnet)in accordance with an embodiment of the present invention;

FIG. 10E depicts a second device in the form of a joy stick input devicecomprising a base (with one magnet) and control handle (with twomagnets) in accordance with an embodiment of the present invention;

FIG. 10F depicts a second device in the form of a joy stick input devicecomprising a base (with one magnet) and control handle (with threemagnets) in accordance with an embodiment of the present invention; and

FIGS. 11A-11K depict exemplary second devices that comprise one or moremagnets that can be detected by one or more vector magnetic sensors ofone or more first devices in accordance with an embodiment of thepresent invention. In particular, the exemplary second devices showninclude: (1) a glove (FIG. 11A); (2) a golf club (FIG. 11B); (3) a tool(FIG. 11C); (4) a pet collar (FIG. 11D); (5) a game controller (FIG.11E); (6) a vending machine (FIG. 11F); (7) a vehicle (FIG. 11G); (8) agas pump (FIG. 11H); (9) a cash register (FIG. 11I); (10) an automatedteller machine (FIG. 11J); and (11) a first device (FIG. 11K).

DETAILED DESCRIPTION OF THE INVENTION

In accordance with one aspect of the invention, vector magneticsensor-based orientation sensing capabilities of a first device areleveraged to determine the orientation of one or more second devicesthat may be associated with the first device, where the first devicecomprises at least one vector magnetics sensor and each of the one ormore second devices comprises at least one magnet, where the at leastone magnet may be a permanent magnet, an electromagnet, or aelectro-permanent magnet. Specifically, a second device may comprise astylus, a joystick, a game controller, a mouse, a glove, a keyboard, aneyepiece, a laptop, a trackpad, a digital audio player, a computerdisplay, a mobile phone, a mobile device, a tablet, etc. Moreover, thesecond device could merely be a magnet.

In accordance with a first embodiment of the invention depicted in FIG.7A, a system 700 may comprise a first device 100 (e.g., a mobile phone100) comprising a touchscreen 112 (e.g., a capacitive touchscreen 112)and a second device, e.g., a stylus 120 a, comprising a magnet 126 suchas the stylus 120 a shown in FIG. 2A. Unlike the prior art approachdescribed previously in relation to FIG. 1A where the stylus 120 wastouched to a capacitive touchscreen 112 such that magnetic field linesof a magnet 126 in the head of the stylus 120 produced a capacitiveresponse, a stylus 120 a (or any other second device in accordance withthe invention) comprising a magnet 126 doesn't have to touch thetouchscreen 112 of the first device 100 because the position of themagnet 126 included in the stylus 120 a as determined by one or moremagnetic sensors 110 included in the first device 100 is used to providean interface with the first device 100. In accordance with the inventiona second device 122 a can be in proximity to a first device 100, wherethe one or more magnetic sensors 110 of the first device 100 can measurethe absolute orientation and location of the second device 120 a. Vectordata corresponding to the absolute orientation and location of thesecond device 120 a within a coordinate system based on the absoluteorientation and location of the first device 100 can be mapped to alocation on the touchscreen 112 and otherwise used to communicate withthe first device 100. Similarly, a system 710 as depicted in FIG. 7B maycomprise a first device 100 and a second device, e.g., a stylus 120 b,comprising a magnet 126 such as the stylus 120 b shown in FIG. 2B, wheregenerally as long as the orientation of the magnet 126 residing in asecond device 120 b is known, the absolute location and orientation ofthe magnet 126 residing in the second device 120 b can be determinedusing the vector data provided by the one or more magnetic sensors ofthe first device 100. It should be noted that the second device couldindeed touch the touchscreen of the first device. Further, the firstdevice need not have a touchscreen in the first place but it could havea regular screen.

As shown in FIG. 8A, a system 800 of the invention may comprise a seconddevice that is a mouse 802 a comprising a magnet 126 having a firstorientation where the magnetic moment of the magnet 126 is parallel to asurface 804 on which the mouse resides. As shown in FIG. 8B, a system810 of the invention may comprise a second device that is a mouse 802 bcomprising a magnet 126 having a second orientation, where the magneticmoment of the magnet 126 is perpendicular to the surface 804 on whichthe mouse 802 b resides.

FIG. 9A depicts an exemplary system 900 of the invention that comprisesa second device that is a joy stick input device 902 a comprising a base903 and control handle 905 configured to pivot within the base 903 at apivot point 904. The control handle 905 includes a magnet 126 having afirst orientation that is perpendicular to an axis of an ‘at rest’position of the control handle (i.e., where the moveable portion is atrest when not being held by a user), where the distance between themagnet 126 and a pivot point 904 is known, the distance between thebottom of the base 903 and the pivot point 904 is known. Thus an ‘atrest’ absolute location and orientation of the control handle 905 can bedetermined and then used to determine the real time absolute locationand orientation of the control handle 905 during operation.

FIG. 9B depicts an exemplary system 910 of the invention that comprisesa second device that is a joy stick input device 902 b that is like thejoy stick input device 902 a of FIG. 9A except the magnet has a secondorientation that is parallel to an axis of an ‘at rest’ position of thecontrol handle.

FIG. 9C depicts an exemplary system 920 of the invention that comprisesa second device that is the joy stick input device 902 a where themagnetic sensors of three first devices 100 a-100 c provide multipledetection angles relative to the magnet 126 (which has one orientation)of the joy stick input device 902 c.

FIG. 9D depicts an exemplary system 930 of the invention that comprisesa second device that is the joy stick input device 902 b where themagnetic sensors of three first devices 100 a-100 c provide multipledetection angles relative to the magnet 126, (which has one orientation)of the joy stick input device 902 d.

Under one aspect of the invention two or more first devices 100 cancommunicate using one or more communications capabilities available tothe first devices 100 such as cellular communications, WI-FIcommunications, or the like, to share vector data. One skilled in theart will recognize that having more magnetic sensors and having moredetection angles enables ambiguities of orientation and location to beresolved more easily to include ambiguities resulting from the seconddevice including multiple magnets.

FIG. 10A depicts a mouse 802 c having two magnets 126 a 126 b, whereeach of the two magnets 126 a 126 has a first orientation relative tothe surface 804 (not shown) and FIG. 10B depicts a mouse 802 d, whereeach of the two magnets 126 a 126 b has a second orientation relative tothe surface 804. FIG. 10C depicts a mouse 802 e having two magnets 126 a126 b, where one of the magnets 126 a has the first orientation relativeto the surface 804 and the other one of the magnets 126 b has the secondorientation relative to the surface 804.

FIG. 10D further depicts a joy stick input device 902 c comprising abase 903 and control handle 905 configured to pivot within the base 903at a pivot point 904. The base 903 includes a first magnet 126 a havinga first orientation where the magnetic moment of the magnet 126 a isparallel to a surface 804 (not shown) on which the joy stick inputdevice 902 a resides. The first magnet 126 a is located beneath thepivot point 904 of the control handle 905. The control handle 905 has asecond magnet 126 b having a second orientation that is parallel to anaxis of an ‘at rest’ position of the control handle (i.e., where themoveable portion is at rest when not being held by a user), where thedistance between the second magnet 126 b and a pivot point 904 is known,the distance between the first magnet 126 a and the pivot point 904 isknown, and the ‘at rest’ angle of the control handle 905 is known. Thusan ‘at rest’ absolute location and orientation of the control handle 905can be determined and then used to determine the real time absolutelocation and orientation of the control handle 905 during operation.

FIG. 10E depicts a joy stick input device 902 d that is similar to thejoy stick input device 902 c except the control handle 905 includes twomagnets 126 b 126 c having an alternating polarity ‘quadrature pole’orientation. FIG. 10F depicts a joy stick input device 902 e that issimilar to the joy stick input device 902 d except the control handle905 includes three magnets 126 b 126 c 126 d having polarityorientations corresponding to a Barker 3 code.

One skilled in the art will recognize that all sorts of non-alternating‘coded’ magnet patterns can be employed including other one-dimensionalarrays (e.g., Barker 4, Barker 5, etc.), two-dimensional arrays, andthree-dimensional arrays where the magnets can have the same shapes,sizes and field strengths or could have different combinations ofshapes, sizes, and field strengths. Moreover, multi-pole printedmagnetic structures can be used. Alternatively, the magnets could beelectromagnets or electro-permanent magnets enabling them to be switchedon and off, their coding varied, or their magnetic fields to beotherwise varied (e.g., field strength) in accordance with a modulationpattern that can be demodulated as a form of communication whereby wavetheory and modulation are applied to magnetometers. For example,magnetic properties could be varied in time as a form of modulation.

Generally, coded patterns of conventional magnets or modulatingelectromagnets or electro-permanent magnets can be used to providedifferentiation from individual magnets that are present in anenvironment in which the first and second devices are present. As such,a first device can identify and authenticate magnets, electromagnets, orelectro-permanent magnets associated with a second device to which thefirst device desires to interface for position tracking orcommunications purposes. Coded magnetic structures are described in U.S.Pat. No. 8,179,219, the contents of which are hereby incorporated hereinby reference. One skilled in the art will understand that an alternatingpolarity magnetic field is a uniformly alternating polarity magneticfield, whereas a coded polarity magnetic field is not uniformlyalternating, and that one can implement a non-alternating polarity codesuch as a Barker 4 code (+ + − +) with different sized alternatingpolarity magnets that produce a non-uniformly alternating (or coded)polarity magnetic field.

FIGS. 11A-11K presents exemplary second devices in accordance with theinvention that may comprise one or more magnets that can be detected byone or more vector magnetic sensors of one or more first devices 100. Aglove 1102 is shown having magnets 126 in the fingers and in the palm ofthe glove (see FIG. 11A). A golf club 1104 includes two magnets 126 inthe head of the club 1104 (see FIG. 11B). A tool 1106 includes twomagnets 126 (see FIG. 11C). A pet collar 1108 includes a magnet 126 (seeFIG. 11D). A game controller 1110 includes two magnets 126 (see FIG.11E). A vending machine 1112 includes a magnet 126 (see FIG. 11F). Avehicle 1114 includes a magnet 126 (see FIG. 11G). A gas pump 1116includes a magnet 126 (see FIG. 11H). A cash register 1118 at a point ofsale includes a magnet 126 (see FIG. 11I). An automated teller machine1110 includes a magnet 126 (see FIG. 11J). Even a first device 100 caninclude a magnet 126 so it can be treated as a second device by anotherfirst device 100 (see FIG. 11K). Generally, one skilled in the art willunderstand that in accordance with the invention one or more magnets canbe associated with most any object and used for providing highresolution positional input relating to the object (or second device) toa first device having one or more magnetic sensors.

The present invention uses vector data corresponding to the absoluteorientation and location of a second device relative to the absoluteorientation and location of a first device to calculate the motion ofthe second device (or the first device) over time. In order toaccomplish motion calculations, a calibration process is required wherethe orientation (e.g., 0 degrees from a plane horizontal to the groundand facing in the X direction) and location (e.g., 0, 0, 0) of the firstdevice within a coordinate system must be established and then thelocation(s) of the one or more magnets 126 in a second object relativeto the orientation and location of the first device must be determined.Then, based on a priori knowledge of the arrangement of the one or moremagnets 126 associated with the second device, the absolute orientationand location of the second device can be determined. The calibrationprocess will typically involve moving the second device to locationswithin a predefined pattern (e.g., points on a square, rectangle,circle, figure eight, etc.) where the second device may be some distanceaway from (i.e., external to) the first device or the second device maybe in contact with or near contact with the first device (e.g., using adisplay of the first device and locations thereon where the seconddevice is used to draw something, trace something, or identify multiplepoints on the device). Alternatively, the calibration process couldinvolve moving the first device relative to the second device where thelocation and orientation of the second device is fixed. The calibrationprocess might involve leaving the first device fixed and moving thesecond device and then leaving the second device fixed and moving thefirst. The first device may also include an accelerometer where it candetermine whether or not it is moving and can calibrate and re-calibratemotion calculations accordingly (e.g., re-calibrate when it recognizesit is stationary). The system may also recognize conditions whereby itrequires a re-calibration process to be performed, for example, it mayre-calibrate periodically based on a timing schedule or it mayre-calibrate because of the occurrence of an event (e.g., a thresholdbeing met, a time limit being surpassed, a measured value being outsidean acceptable range, etc.).

Calibration of a system of the invention may involve determining theorientation and location of the first device relative to one or moremagnets associated with one or more second devices located at referencelocations within an environment. The one or more reference locations maybe associated with a stationary object such as the vending machine 1012,gas pump 1016, cash register 1018, or automated teller machine 1020 ofFIG. 10. The magnetic field(s) of the one or more magnets located at agiven reference location may be modulated to function as a beacon signalthat might, for example, identify the reference location by anidentifier or provide the coordinates (e.g., latitude, longitude,altitude) of the reference location within an established coordinatesystem. Generally, an established modulation method and protocol can beemployed such that information can be conveyed to the first device bythe one or more magnets at one or more reference locations to enable thefirst device to determine its position within an environment. Oneskilled in the art of positioning systems will understand that thenumber of reference locations interfacing with a first device determinesthe extent to which the first device can resolve ambiguities todetermine its two-dimensional or three-dimensional location, which couldbe at a point, at one of a plurality of possible points, within an area,or within a volume. Moreover, a first device may move about within anenvironment whereby the second device(s) with which the first deviceinterfaces varies. Various techniques such as measured magnetic fieldstrength may be used to select among available second devices to be usedto determine a location.

Measurements of a vector and local gradient of the magnetic field(s)associated with a magnet(s) of a second device are not required given apriori knowledge of the shape and field strength of the magneticfield(s) of the magnet(s) associated with the second device. Withoutsuch a priori knowledge, the vector and local gradient of the magneticfield of a magnet(s) associated with a second device can be measuredusing the vector data of the one or more sensors of the first device.

The locations of the first device and second device can be determinedrelative to a location corresponding to location information provided byone or more location information systems such as a Global PositioningSystem, a Wi-Fi position tracking system, or an Ultra Widebandpositioning system.

The movement of a vehicle in which the first device resides, movement ofa person holding the first device, or the movement of any other movingobject to which the first device is associated with can be determinedusing the accelerometer capabilities of the first device.

When a second device includes a coded magnetic array such as the Barker3 array shown in FIG. 10F, multiple arrays of vector magnetic sensorscan be used to determine the location and orientation of the seconddevice. Generally, the more complex the coded array, which may be aone-dimensional array, two-dimensional array, or three-dimensionalarray, the more sensors and computations may need to be applied toresolve ambiguities.

The second device can be a tool (e.g., a scalpel used by a surgeon oreven a robot). The second device can be a robotic hand or a finger of arobotic hand.

The vector magnetic sensor array of the first device can track theorientation of a plurality of second devices (e.g., multiple fingers ofa robotic hand or the fingers of a glove worn by a person).

The first device can also track orientation of multiple objects such asmultiple game pieces near the device (e.g., pieces of a chess game on agame board near a PDA).

Control signals can be conveyed from the first device to the seconddevice to control the movement of the second device (e.g., a feedbackcontrol system), where the second device is moved, tracked by the firstdevice, and the first device sends data back to the second deviceconcerning its movement to include new movement instructions.

Alternatively, the second device can be in a fixed location/orientationand the first device can determine its own movement relative to thelocation/orientation of the second device.

Under one arrangement, a plurality of first devices can be coordinated(e.g., 2 androids providing 2 look angles) to determine informationpertaining to a second device.

An authentication scenario for a security door access control systemcould be as follows:

-   -   A person walks up to a security door. The door has a unique id        (like an ip address).    -   The security door has a modulating magnetic source that emits        the unique ID of the door. Modulation could be constant (beacon)        or it could be strobed based on the door recognizing presence of        the phone/person/etc., where it could use any detection method        such as radar, IR, Bluetooth, etc. to detect the        phone/person/etc.    -   The phone detects the door (emission), takes the door ID and        combines it with its own ID and sends a packet to a server via        phone communications.    -   The server sends the door a validation code that the door uses        to produce a validation emission that the phone then sends back        to the server to verify proximity to the correct door.    -   The door knows to open.

With such an authentication approach, most any transaction can beauthenticated via ones cellphone.

With a network of modulating magnetic sources (beacons) at knownlocations within a building, a phone can determine where it's at insidethe building as it is moved, for example by a person, about thebuilding.

The beacons would emit their locations (e.g.,latitude/longitude/altitude) or provide an identifier that the phonecould use with a location look up table.

One of the things that can be made available to the phone is a map of afacility or a home identifying where beacons are in the facility. Newbeacons can be added and discovered and removed and determined.

If the phone has a compass and an accelerometer, they can be used incombination with the magnetometer to provide information used tointerpolate and extrapolate in between beacons.

The phone can verify an environment based on a priori knowledge of thebeacon supposedly present and can determine if a beacon is no longerpresent (for replacement purposes).

Different types of beacons can have different magnetic characteristics(e.g., different throw, different amplitude, different directionality,different coding). Information about the type of beacon (determinedbased on magnetic characteristics) can provide more information aboutlocation, authentication, allow for efficiencies of operation, etc. Forexample, coils used with electromagnets can be small or very big.

Phones can receive information from RF sources, barcodes, and magneticstripes.

Two devices each having a magnetometer and a modulating magnetic sourcecan have two-way communications.

Using feedback control, the second device can receive position/motioncontrol information via a wireless link from a first device tracking theposition of the second device, which enables the second device to bedumb.

While particular embodiments of the invention have been described, itwill be understood, however, that the invention is not limited thereto,since modifications may be made by those skilled in the art,particularly in light of the foregoing teachings.

The invention claimed is:
 1. A system comprising: a first devicecomprising a screen and at least one vector magnetic sensor that sensesthe magnetic field produced by the Earth; a second device comprising amagnet; the first device utilizes the at least one vector magneticsensor which interfaces with the magnet in the second device to obtainvector data which corresponds to an absolute orientation and location ofthe second device within a coordinate system based on an absoluteorientation and location of the first device; and the first deviceutilizes the vector data to map the location of the second device to alocation on the screen.
 2. The system of claim 1, wherein the firstdevice further utilizes the vector data to map the motion of the seconddevice to the screen.
 3. The system of claim 1, wherein: the firstdevice conveys control signals to the second device to control movementof the second device.
 4. The system of claim 1, wherein: the seconddevice is a stylus with a head and a handle, wherein the head containsthe magnet that is orientated such that a corresponding magnetic pole issubstantially perpendicular to a lengthwise direction of the handle; orthe second device is a stylus with a head and a handle, wherein the headcontains the magnet that is orientated such that a correspondingmagnetic pole is substantially parallel to a lengthwise direction of thehandle.
 5. The system of claim 1, wherein: the second device is a mousewhich has the magnet with a first orientation where a magnetic moment ofthe magnet is parallel to a surface on which the mouse resides; or thesecond device is a mouse which has the magnet with a second orientationwhere a magnetic moment of the magnet is perpendicular to a surface onwhich the mouse resides.
 6. The system of claim 1, wherein: the seconddevice is a mouse which has two magnets both with a first orientationwhere two magnetic moments of the two magnets are parallel to a surfaceon which the mouse resides; or the second device is a mouse which hastwo magnets both with a second orientation where two magnetic moments ofthe two magnets are perpendicular to a surface on which the mouseresides; or the second device is a mouse which has a first magnet and asecond magnet, wherein the first magnet has a first orientation where amagnetic moment of the first magnet is parallel to a surface on whichthe mouse resides, and wherein the second magnet has a secondorientation where a magnetic moment of the second magnet isperpendicular to said surface on which the mouse resides.
 7. The systemof claim 1, wherein: the second device is a joy stick input devicecomprising a base and a control handle, wherein the control handle isconfigured to pivot within the base at a pivot point, and wherein thecontrol handle has the magnet with a first orientation that isperpendicular to an axis of an at rest position of the control handle;or the second device is a joy stick input device comprising a base and acontrol handle, wherein the control handle is configured to pivot withinthe base at a pivot point, and wherein the control handle has the magnetwith a second orientation that is parallel to an axis of an at restposition of the control handle.
 8. The system of claim 1, wherein: thesecond device is a joy stick input device comprising a base and acontrol handle, wherein the control handle is configured to pivot withinthe base at a pivot point, wherein the control handle has the magnetwith an orientation that is perpendicular to an axis of an at restposition of the control handle, and wherein the base has a second magnetwith a magnetic moment that is parallel to a surface on which the joystick input device resides; or the second device is a joy stick inputdevice comprising a base and a control handle, wherein the controlhandle is configured to pivot within the base at a pivot point, whereinthe control handle has the magnet and a second magnet which collectivelyhave an alternating polarity orientation that is parallel to an axis ofan at rest position of the control handle, and wherein the base has athird magnet with a magnetic moment that is parallel to a surface onwhich the joy stick input device resides; or the second device is a joystick input device comprising a base and a control handle, wherein thecontrol handle is configured to pivot within the base at a pivot point,wherein the control handle has the magnet and two additional magnetswhich collectively have polarity orientations corresponding to a Barker3 code and have orientations that are parallel to an axis of an at restposition of the control handle, and wherein the base has a magnet with amagnetic moment that is parallel to a surface on which the joy stickinput device resides.
 9. The system of claim 1, further comprising: atleast two more first devices each of which has at least one vectormagnetic sensor; and the second device is a joy stick input devicecomprising a base and a control handle, wherein the control handle isconfigured to pivot within the base at a pivot point, wherein thecontrol handle has the magnet which has a predetermined orientation toan axis of an at rest position of the control handle; the first deviceand the at least two more first devices utilize their respective atleast one vector magnetic sensor which interfaces with the magnet in thesecond device to obtain respective vector data corresponding to anabsolute orientation and location of the control handle within acoordinate system based on an absolute orientation and location of therespective first device and the at least two more first devices; and thefirst device obtains the vector data from the at least two more firstdevices and uses all of the vector data to map the location of thecontrol handle to a location on the screen.
 10. The system of claim 1,wherein the screen is a touchscreen.
 11. A system comprising: a firstdevice comprising a screen and at least one vector magnetic sensor; asecond device comprising a magnet; the first device utilizes the atleast one vector magnetic sensor which interfaces with the magnet in thesecond device to obtain vector data which corresponds to an absoluteorientation and location of the second device within a coordinate systembased on an absolute orientation and location of the first device; andthe first device utilizes the vector data to map the location of thesecond device to a location on the screen, wherein the first deviceperforms a calibration process prior to enabling the motion of thesecond device to be mapped to the screen, wherein the first devicefurther utilizes the vector data to map the motion of the second deviceto the screen, wherein the calibration process comprises: determine theabsolute orientation and location of the first device within thecoordinate system; determine a location of the magnet in the seconddevice relative to the orientation and location of the first device; anddetermine the absolute orientation and location of the second devicebased on a priori knowledge of an arrangement of the magnet in thesecond device.
 12. The system of claim 11, wherein the calibrationprocess further comprises one of the following: moving the second deviceto locations within a predefined pattern where the second device is somedistance away from the first device or the second device is in contactwith or near contact with the first device; moving the first devicerelative to the second device where the orientation and location of thesecond device is fixed; or leaving the first device fixed and moving thesecond device and then leaving the second device fixed and moving thefirst device.
 13. A system comprising: a first device comprising ascreen and at least one vector magnetic sensor; a second devicecomprising a magnet; the first device utilizes the at least one vectormagnetic sensor which interfaces with the magnet in the second device toobtain vector data which corresponds to an absolute orientation andlocation of the second device within a coordinate system based on anabsolute orientation and location of the first device; and the firstdevice utilizes the vector data to map the location of the second deviceto a location on the screen, wherein the second device incorporates themagnet and at least one other magnet, wherein the magnet and the atleast one other magnet is a coded magnetic array.
 14. The system ofclaim 1, further comprising: additional first devices each of whichincorporate at least one vector magnetic sensor, wherein the firstdevice and the additional first devices utilize their respective atleast one vector magnetic sensor to interface with said magnet in saidsecond device to obtain vector data which corresponds to said absoluteorientation and location of said second device within the coordinatesystem based on the absolute orientations and locations of the firstdevice and the additional first devices.
 15. A first device whichinterfaces with a second device that has a magnet, the first devicecomprising: a screen; at least one vector magnetic sensor that sensesthe magnetic field produced by the Earth; a processor; and a memory thatstores processor-executable instructions where the processor interfaceswith the memory and executes the processor-executable instructions toenable the following operations: interface with second device whichcomprises a magnet; obtain vector data which corresponds to an absoluteorientation and location of the second device within a coordinate systembased on an absolute orientation and location of the first device; andutilize the vector data to map the location of the second device to alocation on the screen.
 16. The first device of claim 15, wherein theprocessor further executes the processor-executable instructions toutilize the vector data to map the motion of the second device to thescreen.
 17. The first device of claim 15, wherein the processor furtherexecutes the processor-executable instructions to: interface withadditional first devices each of which incorporate at least one vectormagnetic sensor; utilize the at least one vector magnetic sensor in eachadditional first device to obtain vector data which corresponds to saidabsolute orientation and location of said second device within thecoordinate system based on the absolute orientations and locations ofthe first device and the additional first devices.
 18. The first deviceof claim 15, wherein the processor further executes theprocessor-executable instructions to convey control signals to thesecond device to control movement of the second device.
 19. The firstdevice of claim 15, wherein the screen is a touchscreen.
 20. A firstdevice which interfaces with a second device that has a magnet, thefirst device comprising: a screen; at least one vector magnetic sensor;a processor; and a memory that stores processor-executable instructionswhere the processor interfaces with the memory and executes theprocessor-executable instructions to enable the following operations:interface with second device which comprises a magnet; obtain vectordata which corresponds to an absolute orientation and location of thesecond device within a coordinate system based on an absoluteorientation and location of the first device; and utilize the vectordata to map the location of the second device to a location on thescreen, wherein the processor further executes the processor-executableinstructions to utilize the vector data to map the motion of the seconddevice to the screen, wherein the processor further executes theprocessor-executable instructions to perform a calibration process priorto enabling the motion of the second device to be mapped to the screen,wherein the calibration process comprises: determine the absoluteorientation and location of the first device within the coordinatesystem; determine a location of the magnet in the second device relativeto the orientation and location of the first device; and determine theabsolute orientation and location of the second device based on a prioriknowledge of an arrangement of the magnet in the second device.
 21. Amethod implemented by a first device which interfaces with a seconddevice, wherein the first device comprises a screen and at least onevector magnetic sensor that senses the magnetic field produced by theEarth, and wherein the second device comprises a magnet, the methodcomprising: obtaining vector data which corresponds to an absoluteorientation and location of the second device within a coordinate systembased on an absolute orientation and location of the first device; andutilizing the vector data to map the location of the second device to alocation on the screen.
 22. The method of claim 21, further comprisingutilizing the vector data to map the motion of the second device to thescreen.
 23. The method of claim 21, further comprises: interfacing withadditional second devices each of which incorporate a magnet; utilizingthe at least one vector magnetic sensor which interfaces with the magnetin each additional second device to obtain vector data which correspondsto an absolute orientation and location of each additional second devicewithin the coordinate system based on the absolute orientation andlocation of the first device; and utilize the vector data to map thelocation of each additional second device to a location on the screen,wherein each additional second device does not touch the screen of thedevice.
 24. The method of claim 21, further comprising conveying controlsignals to the second device to control movement of the second device.25. The method of claim 21, wherein the screen is a touchscreen.
 26. Themethod of claim 25, wherein the second device does not touch thetouchscreen of the first device.
 27. A method implemented by a firstdevice which interfaces with a second device, wherein the first devicecomprises a screen and at least one vector magnetic sensor, and whereinthe second device comprises a magnet, the method comprising: obtainingvector data which corresponds to an absolute orientation and location ofthe second device within a coordinate system based on an absoluteorientation and location of the first device; and utilizing the vectordata to map the location of the second device to a location on thescreen; utilizing the vector data to map the motion of the second deviceto the screen; and performing a calibration process prior to mapping themotion of the second device to the screen, wherein the calibrationprocess comprises: determining the absolute orientation and location ofthe first device within the coordinate system; determining a location ofthe magnet in the second device relative to the orientation and locationof the device; and determining the absolute orientation and location ofthe second device based on a priori knowledge of an arrangement of themagnet in the second device.